cyy/go2_rl_gym
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v0.1.5 prev1; Add ACMoE

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wty-yy
2026-01-06 23:38:32 +08:00
parent ddd7119050
commit 05e1e81d64
13 changed files with 601 additions and 13 deletions
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12
legged_gym/envs/go2/go2_config.py
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@@ -1,5 +1,5 @@
import math
from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO, LeggedRobotCfgCTS, LeggedRobotCfgMoECTS, LeggedRobotCfgMoECTS, LeggedRobotCfgMCPCTS
from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO, LeggedRobotCfgCTS, LeggedRobotCfgMoECTS, LeggedRobotCfgMoECTS, LeggedRobotCfgMCPCTS, LeggedRobotCfgACMoECTS
class GO2Cfg(LeggedRobotCfg):
class init_state(LeggedRobotCfg.init_state):
@@ -275,3 +275,13 @@ class GO2CfgMCPCTS(LeggedRobotCfgMCPCTS):
experiment_name = 'go2_mcp_cts'
max_iterations = 150000
save_interval = 500
class GO2CfgACMoECTS(LeggedRobotCfgACMoECTS):
class policy(LeggedRobotCfgACMoECTS.policy):
expert_num = 8 # number of experts in the student model
class runner(LeggedRobotCfgACMoECTS.runner):
run_name = ''
experiment_name = 'go2_ac_moe_cts'
max_iterations = 150000
save_interval = 500